Parker Automation Gemini GV6K, Command Reference Manual

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4 Gemini GV6K/GT6K Command Reference
Syntax – General Guidelines
Guideline Topic Guideline Examples
Command Delimiters
(
<cr>
,
<lf>
, and
:
)
All commands must be separated by a
delimiter. A carriage return is the most
commonly used. The colon (
:
)allows you to
place multiple commands on one line of code.
Set acceleration to 10 rev/sec/sec:
A10<cr>
A10<lf>
A10:
V25 : D25000 : GO<cr>
Neutral Characters
(
<sp>
and
<tab>
)
Using neutral characters anywhere within a
command will not affect the command. Set velocity to 10 rps:
V<sp>10<cr>
Case Sensitivity There is no case sensitivity. Use upper or
lower case letters within commands. Initiate motion:
GO1
go1
Comment Delimiter (;) All text between a comment delimiter and a
command delimiter is considered
program
comments .
Add a comment to the command:
V10<tab> ;set velocity
Field Separator (
,
) Commands with the symbol
r
or
i
in their
Syntax description require field separators.
Display variable #1 on the RP240 at the current
cursor location with 3 characters displayed to
the left of the decimal, 2 to the right of the
decimal, and the sign:
DVAR1,3,2,1
Commands with the symbol
b
or
d
in their
Syntax description do not require field
separators (but they may be included).
Enable error checking for hard limits and drive
faults:
ERROR0101
Global Command
Identifier (
@
)
When you wish to set the command value
equal on all outputs, add the
@
symbol at the
beginning of the command (enter only the
value for one command field).
Set the digital outputs (#1 & #2) active on all
digital outputs (onboard and external):
@OUT11
The
@
symbol is also useful for checking
the status of all inputs or
outputs on all I/O bricks.
Check the status of all digital outputs (onboard,
and on external I/O bricks):
@OUT
Bit Select Operator (
.
) The bit select operator allows you to affect
one or more binary bits without having to
enter all the preceding bits in the command.
Syntax for setup commands:
[command name].[bit #]-[binary value]
Syntax for conditional expressions:
[command name].[bit #]=[binary value]
Enable error-checking bit #9:
ERROR.9-1
Enable error-check bits #9-12:
ERROR.9-1,1,1,1
IF statement based on value of axis status bit
#12 for axis #1:
IF(1AS.12=b1)
Left-to-right Math
All mathematical operations assume
left-to-right precedence.
VAR1=5+3*2
Result: Variable 1 is assigned the value of 16
(8*2), not 11 (5+6)
.
Binary and Hexadecimal
Values When making assignments with or
comparisons against binary or hexadecimal
values, you must precede the binary value
with the letter “
b
” or “
B
”, and the hex value
with “
h
” or “
H
”. In the binary syntax, an “
x
”
simply means the status of that bit is ignored.
Binary:
IF(IN=b1x01)
Hexadecimal:
IF(IN=h7F)
Multi-tasking Task
Identifier (
%
)
Use the
%
command prefix to identify the
command with a specific task.
Launch the “
move1
” program in Task 1:
1%move1
Check the error status for Task 3:
3%TER
Check the system status for Task 3:
3%TSS
NOTE : The command line is limited to 80 characters (excluding spaces).
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